Tactile feedback interface device including display screen

ABSTRACT

A control device including a housing and a carrier moveable with respect to the housing in a first rotary degree of freedom. A first sensor senses the movement of the carrier and outputs a first control signal. A roller rotatably coupled to the carrier rotates with the carrier in the first degree of freedom and rotates independently of the carrier in a second rotary degree of freedom. A second sensor senses rotary motion of the roller and outputs a second control signal. Preferably, an arm member coupled between carrier and housing pivots about an axis. A third sensor, such as a switch, can be used to detect when the carrier has been pushed in a direction substantially orthogonal to a plane of rotation of the arm member. Force feedback can also be provided in the rotary degrees of freedom of the control device.

CROSS-REFERENCES TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.09/875,458 entitled “Tactile Feedback Interface Device Including DisplaySystem” filed Jun. 5, 2001, which is a continuation of U.S. patentapplication Ser. No. 09/203,908 entitled “Multi-Function Control DeviceWith Force Feedback” filed Dec. 1, 1998, now U.S. Pat. No. 6,256,011,which claims priority to U.S. Provisional Patent Application No.60/067,381 entitled “Interactive Panels for Instrument Control” filedDec. 3, 1997, and U.S. Provisional Patent Application No. 60/067,382entitled “An Improved Multi-Function Control with Feedback” filed Dec.3, 1997, the entirety of each of which is hereby incorporated byreference..

FIELD OF THE INVENTION

This invention relates generally to control devices, and moreparticularly. to force feedback control devices.

BACKGROUND

Control devices can be used for a variety of different control tasks. Auser can conveniently select or operate different functions and featuresof a device using the control device. In some cases, the control deviceallows a user to operate or interface with a device remotely, withouthaving to operate controls located on the housing of the device itself.For example, signals can be sent from the remote control device to thecontrolled apparatus. In addition, the control device preferably offersa more intuitive and easy-to-use way of interfacing with a device thanusing other inconvenient, bulky, or unintuitive controls.

Control devices can be implemented in a variety of forms. In hand-heldembodiments, it is desirable for control devices to be lightweight andconvenient to hold, and to include controls that are straightforward touse, comfortable, and effective in controlling the features or operationof a device. Typical control devices of the prior art, however, may notinclude all these features. For example, a standard joystick device maynot be very convenient for use in controlling functions since it eitherrequires two hands to operated (one hand holding the device, the otherhand operating the joystick), or it requires a table top or othersurface on which to rest the joystick. Some attempts have been made todevelop one-handed joysticks, but these devices often end up clumsy andineffective. Similarly, gamepad controllers, commonly used to interfacewith video games provided by game consoles, require the use of two handsand are thus inconvenient in many applications.

In embodiments where a device is not hand-held, there is still a needfor a controller device having superior precision, ergonomics, andconvenience. Furthermore, such a device that can readily include forcefeedback functionality is also desirable.

SUMMARY

The present invention provides a control device that allows a user tointerface with an apparatus in a convenient and effective manner. Thecontrol device can also be provided with force feedback for addedfunctionality and efficiency.

More particularly, a control device of the present invention includes ahousing and a carrier coupled to the housing and operative to move withrespect to the housing in a first rotary degree of freedom. A firstsensor senses the movement of the carrier and outputs a first controlsignal. A roller rotatably coupled to the carrier rotates with thecarrier in the first degree of freedom and rotates independently of thecarrier in a second rotary degree of freedom. A second sensor sensesrotary motion of the roller and outputs a second control signal.Preferably, an arm member is coupled between the carrier and thehousing, where the am member pivots about an axis and where the firstsensor senses rotation of the arm member. The roller rotates about anaxis that is parallel to a plane of rotation of the arm member. The armmember can be positioned in the housing, where the housing includes anaperture through which the carrier and roller are accessible to a userof the control device. Preferably, a third sensor is also included todetect when the carrier has been pushed in a direction substantiallyorthogonal to a plane of rotation of the arm member.

In another embodiment, force feedback functionality is preferablyincluded in the control device. For example, a first actuator ispreferably coupled to the arm and outputs a force on the arm in itsdegree of freedom. A second actuator can be coupled to the roller tooutput a force to the roller in its rotary degree of freedom. The firstand second actuators are controlled by first and second actuatorsignals. The control device interfaces with an apparatus; the apparatus,for example, can be a host computer that provides force feedback signalsto the control device based at least in part on the first and secondsensor signals received from the control device. For example, the hostcomputer can display a graphical environment, such as graphical userinterface or game environment, in which a user-controlled graphicalobject is displayed, such as a cursor, having a position determined bythe first and second sensor signals. Other graphical objects may also bedisplayed. In one embodiment, the first and second force feedbacksignals are determined at least in part based on an interaction of thecursor with a displayed graphical object.

A number of alternate embodiments of the control device are alsoprovided. A second roller can be coupled to the carrier and rotate withrespect to the carrier independently of the first roller. Another sensoris provided to sense rotary motion of the second roller. The secondroller can be oriented in the same direction as the first roller, or canbe oriented orthogonally or in other configurations. Furthermore, a beltcan be coupled between the first and second rollers which is accessibleto be contacted and moved by the user. A rotating member, such as acylinder or sphere, can be coupled to the housing and extend from abottom plate of the housing, such that the rotating member contacts aflat surface and rotates when the control device is moved over the flatsurface. The carrier can alternatively be coupled to the housing bycontact bearings which sit in tracks on the housing and allow thecarrier to move along the tracks.

The device and method of the present invention provide an interface toan apparatus that provides greater control functionality and conveniencefor the user. The arcuate or linearly moving carrier portion is easilymoved by a user'thumb, providing horizontal control over a cursor orother input. The rotatable wheel provided in the carrier allows the samefinger of the user to control vertical motion of a cursor or control adifferent function of an apparatus. However, since the wheel rotates ina single position, the length of the carrier arm need not be adjustedgreatly for differently-sized hands. Force feedback may also be added tothe control device to provide the user with greater control and toinform the user of options and selections through the sense of touch.

These and other advantages of the present invention will become apparentto those skilled in the art upon a reading of the followingspecification of the invention and a study of the several figures of thedrawing.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 a is a top plan view of one embodiment of a control device of thepresent invention;

FIG. 1 b is a top plan view of the control device of FIG. 1 a alsoincluding actuators for force feedback;

FIG. 2 is a side elevational view of the control device of FIG. 1 a;

FIGS. 3 a and 3 b are top plan and side elevational views, respectively,of the control device of FIG. 1 a being used by the thumb of a user;

FIGS. 4 a and 4 b are top plan and side elevational views, respectively,of an alternate grip for the control device of FIG. 1 a;

FIG. 5 is a partial top plan view of an alternate embodiment of thecontrol device of the present invention including two aligned rollers;

FIG. 6 is a partial top plan view of an alternate embodiment of thecontrol device of the present invention including two orthogonalrollers;

FIG. 7 is a partial top plan view of an alternate embodiment of thecontrol device of the present invention including two orthogonal rollershaving perpendicular axes of rotation;

FIG. 8 is a side elevational view of an alternate embodiment of thecontrol device of the present invention including a belt routed aroundtwo rollers;

FIG. 9 is a side elevational view of an alternate embodiment of thecontrol device of the present invention including a cylinder forfrictionally engaging a flat surface;

FIG. 10 is a side elevational view of an alternate embodiment of thecontrol device of the present invention including a sphere forfrictionally engaging a flat surface;

FIG. 11 is a partial top plan view of an alternate embodiment of thecontrol device of the present invention including a carrier coupled totracks by bearings;

FIG. 12 is a top plan view of an alternate embodiment of the controldevice of the present invention including a display;

FIGS. 13 a and 13 b are top plan and side elevational views,respectively, of an alternate table-top embodiment of the control deviceof FIG. 1 a; and

FIG. 14 is a block diagram of a control system for the control device ofthe present invention.

DETAILED DESCRIPTION

FIG. 1 a is a top plan view of a first embodiment 10 of an interfacecontrol device of the present invention. Control device 10 includes ahousing 12 and a moveable arm assembly 14. The housing 12 is intended toallow easy hand-held use of the control device. Thus, housing 12 isapproximately of a size that will fit snugly in a user's hand and allowthe user's thumb to reach the controlled portion of the arm assembly 14,as described in greater detail below. The edges of housing 12 arepreferably rounded to allow comfortable use by the user. In otherembodiments, the housing 12 need not be hand-held but can be used on agrounded surface (see FIGS. 13 a and 13 b) or can be part of a fixedpanel, keyboard, computer or other device housing, or other apparatus.Housing 12 includes a first end 16 a and a second end 16 b, where thesecond end 16 b is held away from the user and toward an apparatusinterfaced with the device 10, if appropriate. Housing 12 preferably hasa bottom plate 18 a and a top plate 18 b, which are spaced apart bysidewalls (not shown) of the housing 12 to define a space between theplates 18 a and 18 b.

Arm assembly 14 is rotatably coupled to the housing 12 between thebottom plate 18 a and top plate 18 b. Assembly 14 includes an arm member20 and a cylindrical roller 22. Arm member 20 is coupled to bottom plate18 a and/or top plate 18 b at a first end and may pivot about an axis A.A carrier portion 24 is coupled to the arm member 20 and is exposed tothe user through an opening 26 in the top plate 18 b. The carrierportion can be made as part of the arm member 20 or as a separate piececoupled to the arm member. Carrier portion 24 preferably has an opening28 in its center which holds cylindrical roller 22. For example, theroller 22 can be coupled to the carrier portion 24 by an axle 30 whichallows the roller 22 to rotate about an axis B.

The roller 22 is preferably cylindrical and may include textures orother surface features to assist the user in creating frictional contactwith the user's finger to turn the roller. For example, bumps, ridges,or other surface features can be provided, and/or a frictional materialsuch as rubber can be included on the surface of the roller. In otherembodiments, rollers of other cross-sectional shapes can be used, suchas octagonal, hexagonal, etc.

A first sensor 32 is coupled to the arm member 20 near axis A to measurethe rotation of the arm assembly about axis A. The sensor 32 can be adigital optical encoder, analog potentiometer, magnetic sensor, opticalsensor (e.g. photodiode or photoresistor), or other type of sensor thancan detect rotary motion of the arm member 20 relative to the housing12. The first sensor 32 outputs a first raw sensor signal indicative ofthe motion of the arm member, and can be a relative sensor or anabsolute sensor. For example, if a relative sensor is used, the firstsensor 32 can output a signal indicating the amount of rotation sincethe last detected position.

In one alternate embodiment, an optical sensor can be used as firstsensor 32 and/or second sensor 34. In one type of optical encoder,optical fibers are used to conduct received light pulses to a set ofphotodetectors. Movement of a member over a striped pattern thusgenerates electrical motion signals. The moving elements of device 10may be coupled to a pattern member such as a code wheel or linearelement, where optical fibers are used for remote motion sensing.Optical fibers are well suited to the device 10 due to the flexibilityof the fibers, allowing the fibers to be routed from a moving opticalpickup point (in the swinging arm) to a fixed photodetector location,such as on a circuit board mounted to the housing 12 of the device 10.In such an embodiment, mechanically-driven sensors would not berequired. Alternatively, optical channels molded in and integral with asupport structure can be used with an optical encoder instead of opticalfibers. Such optical channel encoders are described in greater detail inapplication Ser. No. 60/067,381, incorporated herein by reference.

A second sensor 34 is coupled to the axis 30 of the roller 22 to detectrotation of the cylindrical roller 22 about axis B. Sensor 34 can begrounded to the carrier portion 24 to as to measure rotation of theroller 22 with respect to the carrier portion. Similar to the firstsensor 32, the second sensor 34 outputs a second raw sensor signalindicative of the rotation of the roller 22. The sensor 34 can be adigital sensor or analog sensor, and can be relative sensor or absolutesensor, similar to the first sensor 34.

Two axes of motion are preferably integrated in the control device 10.As shown in the top plan view of FIG. 1 b, the arm assembly 14 can bemoved by the user to provide input signals to the apparatus with whichthe user is interfacing. The user can contact the carrier portion 24 orthe roller 22 with a finger and move the assembly left or right aboutthe axis A using finger pressure. The carrier portion thus moves in alinear arcuate path. For example, in FIG. 1 b, the user has moved theassembly 14 in a direction from left to right, as indicated by arrow 36.Preferably, stops are provided at both ends of the opening 26 to limitthe motion of the arm assembly 14. In alternate embodiments, the opening26 can be made linear, and the motion of the carrier portion 24 androller 22 can be linear motion from one end to the other of the opening26. In such an embodiment, roller bearings, sliding bearings, or othermechanisms can be used; for example, FIG. 11 shows an embodiment inwhich such movement can be provided.

The length of the arm member 20 can be varied in different embodimentsto accommodate differently-sized fingers or hands; in some embodiments,an adjustable arm member 20 can be provided that allows a user to adjustarm length (a larger opening 26 can be used to accommodate different armmember lengths). However, it should be noted that the roller 22 does notchange its position along the arm member 20 to provide an adjustableinput signal. Thus, a single, convenient arm length for member 20 can beprovided that allows the user's thumb to reach the roller for most handsizes. The motion of the carrier in left and right directions can alsotypically be accommodated by most hand sizes.

In one preferred embodiment, this motion of arrow 36 controls the motionof a user-controlled graphical object, Such as a cursor displayed on adisplay screen, in a horizontal linear degree of freedom, i.e. along anX-axis. Although the movement of arm assembly 14 is rotational aboutaxis A, the arm member 20 is sufficiently long to allow the user toperceive the motion of the assembly to be almost linear, thus allowingeasy mapping of the assembly motion to linear horizontal cursor motion.The motion of the assembly 14 is preferably mapped to cursor positionaccording to a position control mapping, so that the position of theassembly 14 in its degree of freedom directly corresponds to a positionof the cursor in the displayed degree of freedom. Thus, motion of thecursor to the left would stop at the left edge of the screen preciselywhen the assembly 14 reached a left limit to its degree of freedom, anda similar relationship is provided at the right edge of the screen andthe right limit to the assembly 14. Alternatively, a rate controlmapping can be provided between assembly 14 and the controlled graphicalobject. The rate control mapping is best provided when force feedback isimplemented, as described below.

In one preferred embodiment, the control of a graphical object such as acursor by the control device 10 is provided in a graphical userinterface (GUI) displayed by a host computer. The GUI includes severaldifferent objects, such as icons, pull down menus and menu items,windows, scroll bars, graphical buttons, sliders, links (in a web page)etc. The cursor can be controlled to manipulate and/or select thesevarious graphical objects with the control device 10 of the presentinvention. In other embodiments, the motion of assembly 14 as shown byarrow 36 can control other motions of a cursor or other controlledgraphical object, such as rotation or turning of a simulated vehiclecontrolled by the user. In yet other embodiments, this motion cancontrol other functions or motions, such as the changing of a volume fora stereo, the rotation of an apparatus set on a grounded pedestal, orthe velocity of a controlled vehicle. A variety of electronic orcomputer apparatuses can be controlled by the device 10. For example,the controlled apparatus can be a home appliance such as a televisionset, a microwave oven or other kitchen appliances, a washer or dryer, anaudio home stereo component or system, a home computer, a set top box orweb browser appliance for a television, a video game console, a homeautomation system (to control such devices as lights, garage doors,locks, appliances, etc.), a telephone, photocopier, model vehicle, toy,a video or film editing or playback system, etc. Device 10 can bephysically coupled to the apparatus, or the panel 12 can be physicallyremote from the device 10 and communicate with the device using signalstransferred through wires, cables, wireless transmitter/receiver, etc.

In one embodiment, force feedback is provided in the degree of freedomof assembly 14 using actuators. For example, an actuator 38 can begrounded to the housing 12 and can output forces on the arm member 20 inthe rotary degree of freedom about axis A. Actuator 38 can be an activeactuator that outputs forces in the degree of freedom and can move theassembly 14 if conditions allow; active actuators include a DC motor,voice coil actuator, moving magnet actuator, hydraulic or pneumaticactuator, torquer, etc. Alternatively, actuator 38 can be a passiveactuator that does not output active forces in the degree of freedom butprovides resistance to motion when so controlled, such as magneticparticle brakes, hydraulic or pneumatic passive brakes, frictionmembers, friction drive, electromagnetic coil wound about an ferrouscore, etc.

The use of force feedback in the degree of freedom of the arm assembly14 can provide a variety of functions and greater ease of use for theuser. For example, jolt forces or bumps can be output on the armassembly 14 when the controlled cursor moves over a particular object,such as an icon or window border. Or, attractive forces can assist theuser in moving the cursor onto a target such as an icon, menu item, orlink in a web page, and resist motion away from the target once thecursor has moved onto the target. Other forces include detents, springforces, repulsive forces, textures, damping forces, vibrations or otherperiodic forces, or obstruction forces. Such functionality is describedin greater detail in co-pending patent application Ser. No. 08/571,606,incorporated herein by reference. Furthermore, a rate control mappingbetween the assembly 14 and a controlled object or function can beprovided, where the amount of movement away from an origin positionindicates a magnitude of input. For example, the origin position of theassembly 14 can be designated to be at the center of the degree offreedom of the arm assembly 14. A spring force is output that resistsmotion of the arm assembly away from the origin position, where thegreater the deviation from the origin, the greater the resistive forcethat biases the assembly back to the origin. The amount of deviationfrom the origin is directly to proportional to a magnitude of input.Thus, if the user is controlling the velocity of a cursor, the greaterthe assembly 14 is moved from the origin, the faster the cursor willmove. The direction of the assembly from the origin controls thedirection of the object or function. Functions such as motion, volume,velocity, or any parameter that can be changed can be controlledaccording to a rate control mapping. Furthermore, a rate control mappingand a position control mapping can both be used, as desired by the userand/or as selected by a host computer or other apparatus. Such dualfunctionality is described in greater detail in U.S. Pat. No. 5,825,308,incorporated herein by reference.

Motion of the cylindrical roller 22 about axis B, as shown by arrow 40,preferably provides a separate sensor signal and thus controls aseparate function or motion of the controlled apparatus or object. Theuser preferably contacts the roller with a finger, such as the thumb,and rolls the roller in the desired direction. While resting on theroller 22, the user's finger can also contact the surface of the carrierportion 24, as well as the top edge 25 of the housing 12. This creates africtional coupling between the finger and these three surfaces, whichincreases control stability. The roller 22 can be provided with a stopso that it rotates for a certain range, and then can no longer berotated in that direction. Alternatively, the roller 22 can be providedwith no stops so as to allow the roller to rotate freely in eitherdirection with no limits.

The roller 22 can control a variety of functions or motion. For example,in one preferred embodiment, the rotation of roller 22 controls theposition of a displayed graphical object, such as a cursor, in avertical linear degree of freedom, i.e. along a Y-axis. In a positioncontrol mapping, the position of the roller 22 in its degree of freedomis directly correlated to a position of the cursor in the verticallydisplayed degree of freedom. Such an embodiment can include one or morestops for roller 22 so that when the roller reaches a limit, the cursorhas correspondingly reached the top or bottom edge of the screen. A ratecontrol mapping can also be provided, which is more suitable for theforce feedback embodiment as described below. Alternatively, the motionof roller 22 can control other motions of a cursor or other controlledgraphical object, such as rotation or turning of a simulated vehiclecontrolled by the user. In yet other embodiments, the roller motion cancontrol other functions or motions, such as the changing of volume for astereo, the rotation of an apparatus set on a grounded pedestal, or thevelocity of a controlled vehicle.

In one embodiment, force feedback is provided in the degree of freedomof roller 22 using an actuator 42. For example, actuator 42 can begrounded to the carrier portion 24, coupled to the axle 30 of the roller22 by a belt or other transmission, and output forces on the roller 22in the rotary degree of freedom about axis B. Actuator 42 can be anactive actuator that outputs forces in the degree of freedom, or apassive actuator that provides resistance to motion, as described above.

The force feedback on roller 22 can be used in similar ways as theforces applied to arm assembly 14, described above. For example,detents, jolts, spring forces, attractive or repulsive forces, textures,damping forces, vibrations or other periodic forces, or obstructionforces can be output on the roller. Furthermore, a rate control mappingis preferably implemented using spring forces as described above withreference to the arm assembly 14. For example, the roller 22 has adesignated origin position, and a deviation of the roller from theorigin, in opposition to the spring forces, causes a function or motionto be controlled based on the amount of deviation from the origin.Furthermore, other force sensations that can be output on roller 22include forces that simulate ends of travel for the roller or inform theuser that the end of travel has been reached. For example, as the userrotates the knob in one direction, the end of the adjusted value rangeis reached. If there is no hard stop on the roller at this position, theactuator can be controlled to output an obstruction force to prevent orhinder the user from rotating the roller further in that direction.Alternatively, a jolt force can be output that is stronger in magnitudethan normal detents, which informs the user that the end of the adjustedrange has been reached. Other force sensations that can be applied to arotatable knob-like control, such as a roller 22, are described inco-pending patent application Ser. No. 09/179,382, by Levin et al.,filed Oct. 26, 1998, entitled, “Control Knob with Multiple Degrees ofFreedom and Force Feedback”, assigned to the same assignee as thepresent invention, and which is incorporated herein by reference.

The actuators 38 and 42 are preferably controlled with driver signalsfrom a microprocessor or other controller. A suitable controlarchitecture is shown with respect to FIG. 14, below.

In some embodiments of the control device 10, the arm assembly 14 can besensitive to inertial forces, which could cause undesired movement ofthe arm assembly in particular environments, such as in a movingvehicle. The sensitivity to inertia can be reduced or eliminated bycoupling a counterweight to the arm assembly, For example, a pair ofspur gears can be used, where one gear is coupled to the arm assembly,and the other gear is interlocked with the first gear and is coupled toa different arm member having a counterweight attached to its end. Boththe arm assembly and the counterweight arm can be of approximately equalweight. The counterweight arm can be positioned underneath the armassembly and can pivot in a plane substantially parallel to the plane ofrotation of arm assembly 14. The counterweight moves in an oppositedirection to the arm assembly, thereby cancelling inertial movement ofthe arm assembly.

FIG. 2 is a side elevational view of the control device 10 shown in FIG.1 a. As shown, the arm assembly 14 preferably rotates a small distanceabove the bottom plate. A pressure switch 44 is provided under thecarrier portion 24 of the arm assembly 14. When the user exerts downwardfinger pressure on the carrier portion 24 or the roller 22, the carrierportion 24 flexes down to engage and change the state of the switch.

Preferably, the engagement of the switch 44 is the equivalent of a“mouse click” in a standard mouse input device, or a trigger press in agaming controller. Thus, when the user controls a cursor to acquire atarget such as a graphical icon, the user can then push on the roller 22or carrier portion 24 to engage switch 44 and select the icon or executea program associated with the icon. Furthermore, the roller 22 can bemoved while the carrier portion 24 is held in an engaged position withswitch 44 to allow “dragging” of graphical objects such as windows andicons within the GUI. Switch 44 can be implemented as other types ofswitches in other embodiments, for example an optical switch (forexample, as described in co-pending application Ser. No. 60/067,381),magnetic switch, or other type of switch.

FIGS. 3 a and 3 b are top plan and side elevational views, respectively,of a user operating the control device 10 with a finger. The userpreferably uses a thumb to rotate the cylinder 22 and move the armassembly left and right to control the X- and Y-motion of a controlledgraphical object, or adjust the values for other functions or movement.The fingers of the user are preferably wrapped around the side and endat the bottom surface of the device 10 to hold the device cradled in thehand. In alternate embodiments, the user can use the control device withtwo hands, where one hand moves the roller/arm and the other handmanipulates other controls on the device, e.g. buttons, switches, etc.provided on other areas of the housing 12. In yet other embodiments, atwo handed control device 10 can be provided, where the user grasps anextension to the housing past the roller with one hand and manipulatesthe roller motion with the other hand.

Using the thumb to control positioning functions contributes to superiorergonomics in the control device 10 of the present invention. When auser traces his or her thumb across the tips of the other fingers, everyjoint in his or her hand moves in concert to facilitate thethumb'motion. The opposed position of a thumb relative to the otherfingers is utilized by the control device 10 to achieve a comfortableand natural interface. Other advantages of a thumb control and ahand-held control device 10 are described in U.S. Pat. No. 5,666,138,assigned to assignee of the present application, and incorporated hereinby reference. Other features in that patent can be applied to thepresent invention as well. In addition, a cylindrical control havinglinear motion is described in U.S. Pat. Nos. 4,712,101; 4,724,715;4,823,634; and 5,235,868, which are incorporated herein by reference.

FIGS. 4 a and 4 b are top plan and side elevational views, respectively,of an alternate embodiment 10′ of the control device 10, in which amolded hand grip is provided for the device. An arm assembly 14 androller 22 are provided, which function similarly to the same componentsin the control device 10. The device includes a housing 50 and a grip52. In some embodiments, the housing 50 can be moved relative to thegrip about axis A to allow the player to adjust the relative positionsof the grip and housing to a more convenient position to operate thedevice 10′. The grip preferably includes moldings 54 which are shaped tofit the user's fingers and provide a comfortable grip of the device.Furthermore, the underside of grip 52 can also include a button 56 whichis conveniently accessible to the user's fingers. In some embodiments,this button 56 can be provided in addition to the switch 44 to provideadditional input.

FIG. 5 is a top plan view of an alternate embodiment 60 of the controldevice 10, in which two rollers 62 and 64 are provided on the carrierportion 24 of the arm assembly 14. Each roller 62 and 64 isindependently rotatable from the other roller and preferably provides aseparate input signal to a computer or other apparatus. Thus, eachroller preferably is coupled to a dedicated sensor (not shown). In theembodiment shown, roller 62 is rotatable about axis D, and roller 64 isrotatable about axis E (axes D and E may be coincident in someembodiments). The control device thus provides three separate sensorsignals: one from each of the rollers 62 and 64, and a third from theleft-right motion of arm assembly 14. The cylinders 62 and 64 can bepositioned in separate apertures in the carrier portion 24, as shown, ormay be positioned on the same axle directly side-by-side or separated bya ridge or groove.

One example of a control setup for the control device 60 allows oneroller to control X-axis movement of a graphical object, the left-rightmotion of the arm assembly to control Y-axis movement, and the otherroller to control Z-axis movement, thus allowing three dimensionalmanipulation of objects or adjustment of values. In an alternateembodiment, the second roller 62 or 64 can be placed so that its axis ofrotation is parallel to the axis of rotation of the other roller, e.g.one roller behind the other roller. Also, the second roller can beplaced in other areas of arm 20, such as near the axis of rotation A sothat the second roller still rotates with the arm; or on the housingnear the axis A so that the second roller does not rotate with the arm.

FIG. 6 is a top plan view of an alternate embodiment 70 of the controldevice 10, in which two rollers are provided on the carrier portion 24at different orientations. A first roller 72 is positioned to rotateabout axis F, which is positioned approximately parallel to a tangentialorientation to the rotation of the arm assembly about axis A. A secondroller 74 is positioned to rotate about axis G, which is positionedapproximately radially to the rotation of the arm assembly about axis Aand approximately orthogonally to the orientation of axis F. Similar tothe embodiment of FIG. 5, each roller 72 and 74 is preferably providedwith its own sensor (not shown) so that independent input signals may beprovided based on rotation of each roller. In one embodiment, the roller72 can provide an input signal to control an object or function similarto the roller 22, while the roller 74 can provide an additional controlfeature for another function or value, such as movement in a thirddegree of freedom or axis. Alternatively, roller 74 might control coarseX-axis motion of the controlled object, where arm assembly motionprovides fine X-axis control (or the roller 74 can control fine motionwhile the arm assembly controls coarse motion). This can allow X-axiscontrol of a graphical object past the physical limits to motion of thearm assembly 14.

FIG. 7 is a top plan view of an alternate embodiment 80 of the controldevice 10, in which a first roller 82 is provided in the carrier portion24 as described above, and where the carrier portion 24 also includes awheel 84. Roller 82 rotates about axis H, while wheel 84 rotates aboutaxis I that is positioned approximately perpendicular to the plane ofrotation of arm assembly 14 about axis A. Roller 82 and wheel 84preferably provide independent input signals to a controlled apparatus,and thus are each detected by an individual sensor (not shown). Asdescribed with reference to FIG. 6, the roller 82 can provide thecontrol functionality of roller 22 as described with reference to FIG.1, and the wheel 84 can provide additional control functionality, suchas coarse or fine control of X-axis movement or other movement, controlof movement in a third degree of freedom, adjustment of a differentvalue, etc. Wheel 84 is preferably a cylinder that provides a sufficientheight to allow the user to comfortably engage the circumferentialsurface of the wheel. The user preferably engages wheel 84 on eitherside with a thumb, depending on which of the user's hands operates thecontrol device 80.

FIG. 8 is a side elevational view of another embodiment 90 of thecontrol device 10. In this embodiment, the roller 22 has been replacedwith a belt assembly 92. Assembly 92 can be positioned in arm 20 or incarrier portion 24. A belt 94 is wrapped around two rollers 96 and 98 sothat the user may cause the belt to travel around the rollers byengaging the belt with a finger and moving the belt toward the back orfront of the device 10. The rollers 96 and 98 can be coupled to the armmember 20 by axles, similarly to roller 22. The belt 94 may be made of africtional, stretching material such as rubber or the like, and canalternatively be provided with teeth that engage teeth in roller 96and/or roller 98. Only one sensor need be provided to detect the motionof either roller 96 or roller 98. The sensor can be coupled to therotating shaft of one of the rollers to detect its rotation.Alternatively, an optical sensor can be positioned to detect the passageof stripes or other marks that are printed on the belt, and thus measurethe distance that the belt is moved. In some embodiments, an actuatorcan be coupled to either one of the rollers 96 or 98 to provide forcesin the degree of freedom of movement of the belt. The movement of thebelt 94 can be used to control, for example, the Y-axis motion of acontrolled graphical object, or other motion or value. Furthermore,additional rollers can be included in arm assembly 14 in addition to thebelt assembly 92, as shown in the embodiments of FIGS. 5-7.

FIG. 9 is a side elevational view of an alternate embodiment 100 ofcontrol device 10 in which the device 100 may be moved similarly to amouse to provide additional input signals to a computer system or otherapparatus. A cylindrical rotatable wheel 102 is preferably provided nearthe front of the device 100 and extends out of the bottom panel 18 a sothat it may contact a surface 104. The wheel 102 preferably rotatesabout an axis C when the control device 100 is pushed across surface 104by a user. A sensor (not shown) is preferably used to detect the motionof wheel 102, similar to the sensor 34 used with roller 22. Thus, theuser may provide a third input signal to a computer or other apparatusby moving the device 100 in a desired direction. This motion is isolatedfrom the other inputs based on roller 22 and arm assembly 14 motion,since the wheel 102 is moved by movement of the arm and hand of theuser, not the finger resting on the carrier portion 24 or roller 22.

The wheel 102 can facilitate forward and backward motion of the controldevice 100 while restricting left and right motion. The input from thewheel 102 can be used to control a third axis of movement for acontrolled graphical object or entity, or can control some other value,such as velocity, volume, etc. Furthermore, the wheel 102 can beprovided with an actuator in an alternate embodiment to provide forcefeedback in the degree of freedom of motion of the control device 100.In an alternate mouse embodiment, the left and right motion of the armassembly 14 can be used to move a cursor along the horizontal axis,while the forward and back motion of the device 10 (detected by wheel102) can be used to move the cursor along the vertical axis. Thisembodiment can be useful where there is not enough space to move theentire device to the left and right. The roller 22 in such an embodimentcan be used for z-movement of the cursor or for a function not relatedto movement of the cursor.

In addition, the control device 100 can be provided with additionalbuttons, for example, on the top plate 18 b to allow additional inputsignals. Switch 44 can be actuated similarly to the embodiment shown inFIG. 2, or alternatively, switch 44 can be provided as a button orswitch on the bottom surface of bottom plate 18 a so that a “mouseclick” can be actuated by pressing downward on a switch on the rear ofthe control device, where the fingertips of the user are located. Inother embodiments, wheel 102 can be oriented in an orthogonal directionto the direction shown in FIG. 9, so that the sensor for wheel 102 readsmotion of the device 100 in a left-right degree of freedom. In yet otherembodiments, the wheel 102 can be replaced by a ball or other sphericalobject; this allows two additional signals to be output by the controldevice. The control device could thus be moved in two planar dimensionssimilar to a mouse, and control movement or values in a similar fashion.This is shown in FIG. 10, below.

FIG. 10 is a top plan view of a different embodiment 110 of controldevice 10 in which a ball or sphere 12 is included at the back portionof the control device 110 to provide mouse-like functionality. Ball 112can be held in place by multiple rollers, similar to standard mouseinput devices, where two of the rollers are coupled to sensors toprovide input signals for the horizontal movement and vertical movement,respectively, of the control device 110 on a surface. In a differentembodiment, control device 110 can be provided with a wheel, similar todevice 100, to input control signals for only one degree of freedom ofmovement (forward-back motion or left-right motion).

FIG. 11 is a top plan view of a different embodiment 120 of the controldevice 10 of the present invention, in which ball bearings are providedto allow the carrier portion 24 to move left and right in the opening 26of the housing 12. Housing 12 preferably includes tracks 122 in theedges of opening 26, in which are seated ball bearings 124 which arerotatably coupled to the carrier portion 24. The ball bearings rollwithin the tracks as the carrier portion 24 is moved left or rightwithin the opening 26, such that minimal friction is provided and smoothmovement obtained. Thus, in such an embodiment, the arm member 20 is notrequired to permit movement of the carrier portion 24. In otherembodiments, sliding bearing surfaces can be used; however, suchbearings tend to introduce greater friction in the movement of theportion 24. The opening 26 and tracks 22 may be curved as shown in FIG.11, or alternatively may be straight. A roller 22 or any othercombination of rollers or wheels as described herein can be provided inthe carrier portion 24.

FIG. 12 is a top plan view of a different embodiment 130 of the controldevice of the present invention, in which a local display screen 132 iscoupled to the housing of the control device. Screen 132 can displayinformation either stored in memory local to the control device 10, orinformation received from an apparatus interfaced with the controldevice 130, such as a host computer or other device. For example,graphical and textual information can be displayed to assist the user indetermining functions of the control device as related to the currentprogram running on the host computer. In one example, as the usercontrols a displayed cursor over menu selections, information related tothe menu selections from the host computer is displayed on the localdisplay 132. In other embodiments, a larger display screen can beincluded to provide a self-contained, portable computer or game device,having graphical and textual images displayed thereon. The displayscreen 132 can be any of a variety of types of display devices,including LCD display, LED display, plasma display, etc. In someembodiments, display 132 can include a touch-sensitive surface to allowa user to touch displayed images directly on the display to select thoseimages and an associated setting or function.

FIGS. 13 a and 13 b are top plan and side elevational views,respectively, of an alternate embodiment 150 of a control device of thepresent invention. Control device 150 includes a base 152 and an armassembly 154. Base 152 rests on a stable surface such as a tabletop. Thearm assembly 154 can rotate with respect to the base 152 about an axisJ. Preferably, stops 156 are included to limit the rotation of the armassembly to left and right positions. The arm assembly 154 includes aroller 158 which can be rotated about an axis K and provide an inputsignal as described in the embodiments above. Additional rollers canalso be included that can provide additional input signals. Furthermore,the arm assembly 154 can also include a fine adjustment wheel 160. Thiswheel can be similar to the wheel 84 described above with respect toFIG. 7. Alternatively, wheel 160 can physically rotate the arm assembly154 about axis J when the wheel is rotated. This can be accomplished,for example, by providing a rotatable contact member 162 that contacts asurface of the base 152 and rotates when the arm assembly 154 isrotated. Contact member 162 can be connected to wheel 160 so that whenthe wheel 160 is rotated, the contact member also rotates against thebase 152 and forces the arm assembly to move. Buttons 164 can beincluded to provide additional input signals when pressed by a user.

When the device 150 is used by the user, the user preferably places hisor her hand so that the index and middle fingers are positioned on thearm assembly and the palm of the hand is near the axis J. The index andmiddle fingers are preferably touching both the roller 158 and the basesurface 166 to provide stability. The wheel 160 and the buttons 164 onthe left side can be manipulated by the user's thumb (assuming the righthand is being used), while the buttons on the right can be manipulatedby the user'ring and pinky fingers.

FIG. 14 is a block diagram illustrating an electromechanical system 200suitable for user with the control device of the present invention. Aforce feedback system including many of the below components isdescribed in detail in co-pending patent application Ser. No.09/049,155, filed Mar. 26, 1998, and U.S. Pat. No. 5,734,373, which areboth assigned to the assignee of the present invention and incorporatedby reference herein in their entirety.

In one embodiment, device 10 includes an electronic portion having alocal microprocessor 202, local clock 204, local memory 206, sensorinterface 208, and actuator interface 210.

Local microprocessor 202 is considered “local” to device 10, where“local” herein refers to processor 202 being a separate microprocessorfrom any other microprocessors, such as in a controlling host computeror other apparatus 218, and refers to processor 202 being dedicated toforce feedback and/or sensor I/O for the device 10. In force feedbackembodiments, the microprocessor 202 reads sensor signals and cancalculate appropriate forces from those sensor signals, time signals,and force processes selected in accordance with a host command, andoutput appropriate control signals to the actuator. Suitablemicroprocessors for use as local microprocessor 202 include the 8X930AXby Intel, the MC68HC711E9 by Motorola and the PIC16C74 by Microchip, forexample. Microprocessor 202 can include one microprocessor chip, ormultiple processors and/or co-processor chips, and can include digitalsignal processor (DSP) functionality. Also, “haptic accelerator” chipscan be provided which are dedicated to calculating velocity,acceleration, and/or other force-related data. Alternatively, fixeddigital logic and/or state machines can be used to provide similarfunctionality to microprocessor 202.

A local clock 204 can be coupled to the microprocessor 202 to providetiming data, for example, to compute forces to be output by actuator 70.Local memory 206, such as RAM and/or ROM, is preferably coupled tomicroprocessor 202 in interface device 10 to store instructions formicroprocessor 202, temporary data, and other data. Display 132 can becoupled to local microprocessor 202 in some embodiments. Alternatively,a different microprocessor or other controller can control output to thedisplay 132.

Sensor interface 208 may optionally be included in device 10 to convertsensor signals to signals that can be interpreted by the microprocessor202. For example, sensor interface 208 can receive signals from adigital sensor such as an encoder and convert the signals into a digitalbinary number. An analog to digital converter (ADC) can also be used.Such circuits, or equivalent circuits, are well known to those skilledin the art. Alternately, microprocessor 202 can perform these interfacefunctions. Actuator interface 210 can be optionally connected betweenthe actuators 38 and 42 and microprocessor 202 to convert signals frommicroprocessor 202 into signals appropriate to drive the actuators.Actuator interface 210 can include power amplifiers, switches, digitalto analog controllers (DACs), and other components, as well known tothose skilled in the art. Actuator interface 210 circuitry can also beprovided within microprocessor 202 or in the actuators.

A power supply 212 call be coupled to actuators 38 and 42 and/oractuator interface 210 to provide electrical power. In a differentembodiment, power can be supplied to the actuators and any othercomponents (as required) by an interface bus. Power can also be storedand regulated by device 10 and thus used when needed to drive theactuators.

Sensors 32 and 34 sense the position, motion, and/or othercharacteristics of arm assembly 14 and roller 22 along one or moredegrees of freedom and provide signals to microprocessor 202 includinginformation representative of those characteristics. A single compoundsensor can be used for multiple degrees of freedom. Examples of sensorssuitable for sensors 32 and 34 include optical encoders, analog sensorssuch as potentiometers, Hall effect magnetic sensors, optical sensorssuch as a lateral effect photo diodes, tachometers, and accelerometers.Furthermore, both absolute and relative sensors may be used.

In those embodiments including force feedback, actuators 38 and 42 areprovided to transmits forces to arm assembly 14 and roller 22 inresponse to signals output by microprocessor 202 or other electroniclogic or device, i.e., the actuators are “electronically-controlled.”The actuators 38 and 42 produce electronically modulated forces whichmeans that microprocessor 202 or other electronic device controls theapplication of the forces. In some embodiments, additional actuators canalso be provided for other controls on device 10 (such as buttons,gamepad, etc.) or degrees of freedom of arm assembly 14. Actuators 38and 42 can be active actuators, such as linear current control motors,stepper motors, pneumatic/hydraulic active actuators, a torquer (motorwith limited angular range), voice coil actuators, etc.; or passiveactuators, such as magnetic particle brakes, friction brakes, orpneumatic/hydraulic passive actuators. In some embodiments,sensor/actuator pair transducers can be used.

In some embodiments, a drive transmission such as a capstan drivemechanism can be used to provide mechanical advantage to the forcesoutput by actuators 14 and/or 22. Some examples of capstan drivemechanisms are described in U.S. Pat. No. 5,731,804, incorporated hereinby reference. Alternatively, a belt drive system, gear system, or othermechanical amplification/transmission system can be used.

Other input devices 214 can be included in control device 10 and sendinput signals to microprocessor 202. Such input devices can includebuttons provided on various locations of housing 12 and/or carrierportion 24, used to supplement the input from the arm assembly androller 22. Also, dials, switches, voice recognition hardware (e.g. amicrophone, with software implemented by microprocessor 202), or otherinput mechanisms can be used. Furthermore, a safety or “deadman” switch216 can optionally be included in those implementations providing forcefeedback. The safety switch prevents forces from being output when theuser is not contacting the roller 22 or carrier portion 24, and toprevent these components from moving on their own when the user is nottouching them. The safety switch can detect contact of a user'sdigit(finger, thumb, etc.) with the components using a sensor such as acapacitive sensor or resistive sensor, pressure sensor, optical sensor,etc.

Controlled apparatus 218 is preferably included to communicate withlocal microprocessor 202 or other electronic components of controldevice 10. Microprocessors 202 and 218 are preferably coupled togetherby a bi-directional bus 220. Additional electronic components may alsobe included for communicating via standard protocols on bus 220. Thesecomponents can be included in device 10 or another connected device. Bus220 can be any of a variety of different communication busses. Forexample, a bi-directional serial or parallel bus, a wireless link, or auni-directional bus can be provided.

Controlled apparatus 218 can be any of a variety of devices, including ahost computer, appliance, or other device as described with reference toFIG. 1 a. Microprocessors 202 and apparatus 218 can exchange informationas needed to facilitate control of various systems, output eventnotifications to the user, etc. For example, apparatus 218 can be a hostcomputer including a microprocessor that commands the localmicroprocessor 202 to output force sensations by sending host commandsto the local microprocessor. The host computer can be a personalcomputer, workstation, video game console, or other computing or displaydevice, set top box, “network-computer”, etc. Besides a microprocessor,the host computer preferably includes random access memory (RAM), readonly memory (ROM), input/output (I/O) circuitry, and other components ofcomputers well-known to those skilled in the art. The host computer canimplement a host application program with which a user interacts usingcontrol device 10 and/or other controls and peripherals. The hostapplication program can be responsive to signals from control device 10such as the motion of the arm or knob, or button presses. In forcefeedback embodiments, the host application program can output forcefeedback commands to the local microprocessor 202, using, for example, aforce feedback API of the host computer, such as [-Force from ImmersionCorporation. In a host computer embodiment or other similar embodiment,microprocessor 202 can be provided with software instructions to waitfor commands or requests from the host computer, parse/decode thecommand or request, and handle/control input and output signalsaccording to the command or request.

For example, in one force feedback embodiment, a host computer canprovide low-level force commands over bus 220, which microprocessor 202directly transmits to the actuators. In a different force feedback localcontrol embodiment, the host computer provides high level supervisorycommands to microprocessor 202 over bus 220, and microprocessor 202decodes/parses the commands and manages low level force control loops tosensors and actuators in accordance with the high level commands andindependently of the host computer. In the local control embodiment, themicroprocessor 202 can independently process sensor signals to determineappropriate output actuator signals by following the instructions of a“force process” that may be stored in local memory 206 and includescalculation instructions, formulas, force magnitudes (force profiles),and/or other data. The force process can command distinct forcesensations, such as vibrations, textures, jolts, or even simulatedinteractions between displayed objects. Such operation of localmicroprocessor in force feedback applications is described in greaterdetail in U.S. Pat. No.5,734,373, previously incorporated herein byreference.

In an alternate embodiment, no local microprocessor 202 is included ininterface device 10, and a remote microprocessor in apparatus 218controls and processes all signals to and from the components ofinterface device 10. Or, hardwired digital logic in device 10 canperform any input/output functions to the device 10.

While this invention has been described in terms of several preferredembodiments, there are alterations, modifications, and permutationsthereof which fall within the scope of this invention. It should also benoted that the embodiments described above can be combined in variousways in a particular implementation. Furthermore, certain terminologyhas been used for the purposes of descriptive clarity, and not to limitthe present invention. It is therefore intended that the followingappended claims include such alterations, modifications, andpermutations as fall within the true spirit and scope of the presentinvention.

1. An apparatus comprising: a manipulandum movable in a first rotarydegree of freedom and a second rotary degree of freedom, wherein an axisof rotation of the first rotary degree of freedom is substantiallyperpendicular to an axis of rotation of the second rotary degree offreedom; a sensor configured to detect a movement of the manipulandumand to output a first sensor signal associated with the movement; afirst actuator configured to provide tactile feedback to themanipulandum in the first rotary degree of freedom, the tactile feedbackassociated with the first sensor signal; a second actuator configured toprovide tactile feedback to the manipulandum in the second rotary degreeof freedom, the tactile feedback associated with the first sensorsignal; and a first processor configured to control the first actuatorand the second actuator and to receive the first sensor signal from thesensor.
 2. The apparatus of claim 1, wherein the sensor is furtherconfigured to detect a position of the manipulandum.
 3. The apparatus ofclaim 2, wherein the sensor is further configured to detect the movementof the manipulandum from the position and to output a second sensorsignal associated with the movement of the manipulandum from theposition, the first processor configured to receive the second signal.4. The apparatus of claim 2, wherein the first processor is configuredto associate a value with the position of the manipulandum in a positioncontrol mapping mode and to control a rate of change of the value in arate control mapping mode.
 5. The apparatus of claim 4, wherein thefirst processor is configured to control the tactile feedback to themanipulandum in the rate control mapping mode.
 6. The apparatus of claim1, wherein the manipulandum comprises a roller.
 7. The apparatus ofclaim 6, wherein the roller is configured to transmit a roller signal tothe first processor.
 8. The apparatus of claim 6, wherein the roller ismoveable in two degrees of freedom.
 9. The apparatus of claim 8, whereinthe two degrees of freedom comprise a rotary degree of freedom and atranslatory degree of freedom.
 10. The apparatus of claim 1, furthercomprising a local display screen.
 11. The apparatus of claim 1, furthercomprising a microphone.
 12. The apparatus of claim 1, wherein the firstprocessor is included in a video game console.
 13. The apparatus ofclaim 1, wherein the first processor is included in a computer.
 14. Theapparatus of claim 1, wherein the first processor is included in aWeb-access device.
 15. The apparatus of claim 1, wherein the firstprocessor is included in an electronic device.
 16. The apparatus ofclaim 1, further comprising a second processor, separate from the firstprocessor and configured to communicate with the first processor. 17.The apparatus of claim 1, further comprising a wireless communicationinterface configured to communicate with the first processor.
 18. Theapparatus of claim 1, wherein the movement comprises a distance.
 19. Theapparatus of claim 1, wherein the movement comprises a direction. 20.The apparatus of claim 1, wherein the movement comprises a rate ofchange.
 21. The apparatus of claim 1, wherein the movement is measuredsubstantially in real-time.
 22. An apparatus comprising: a manipulandummovable in at least a first rotary degree of freedom and a second rotarydegree of freedom, wherein an axis of rotation of the first rotarydegree of freedom is substantially perpendicular to an axis of rotationof the second rotary degree of freedom; a sensor configured to detect amotion of the manipulandum and to output a first signal associated withthe motion of the manipulandum, the sensor further configured to detecta first position of the manipulandum, a second position of themanipulandum, and the difference between the first and second positions,and to output a second signal associated with the first position, athird signal associated with the second position, and a fourth signalassociated with the difference; a first actuator configured to output afirst force to the manipulandum, the first force associated with thefirst signal; a second actuator configured to output a second force tothe manipulandum, the second force associated with the first signal; anda first processor configured to control the first actuator and thesecond actuator and to receive the first, second, third, and fourthsignals from the sensor; and a second processor in communication withthe local processor.
 23. The apparatus of claim 22 wherein the firstprocessor is further configured to associate a value with the firstposition of the manipulandum in a position control mapping mode and tocontrol a rate of change of the value in a rate of control mapping mode.24. The apparatus of claim 23, wherein the first processor is furtherconfigured to control the force to the manipulandum in the rate controlmapping mode.
 25. The apparatus of claim 23, wherein the first actuatoris further configured to output a force detent during a displacement ofthe manipulandum in the position control mapping mode.
 26. The apparatusof claim 23, wherein the rate of change associates with a displacementof the manipulandum with respect to the first position of themanipulandum.
 27. The apparatus of claim 26, wherein the first processoris further configured to control the first position of the manipulandumin the rate control mapping mode.
 28. The apparatus of claim 27, whereinthe first processor is further configured to control a biasing forceapplied to the manipulandum in a direction toward the first position inthe rate control mapping mode.
 29. The apparatus of claim 22, whereinthe first processor comprises a local processor and the second processorcomprises a host processor.
 30. An apparatus comprising: a manipulandummovable in a first rotary degree of freedom and a second rotary degreeof freedom; a sensor configured to detect a movement of the manipulandumand to output a first sensor signal associated with the movement; afirst actuator configured to provide tactile feedback to themanipulandum in the first rotary degree of freedom, the tactile feedbackassociated with the first sensor signal; a second actuator configured toprovide tactile feedback to the manipulandum in a second rotary degreeof freedom, the tactile feedback associated with the first sensorsignal; a first processor configured to control the first actuator andthe second actuator and to receive the first sensor signal from thesensor; and a local display screen comprising a touch-sensitive surface,the local display screen in communication with the first processor. 31.The apparatus of claim 30, wherein the first processor is included in avideo game console.
 32. The apparatus of claim 30, wherein the firstprocessor is included in a computer.
 33. The apparatus of claim 30,wherein the first processor is included in a Web-access device.